Automated Handling of Construction Components Based on Parts and Packets Unification
Automated Handling of Construction Components Based on Parts and Packets Unification
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基于零件和数据包统一的建筑构件自动化处理
DOI：
10.22260/isarc2003/0057
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
J. Yagi
中科院分区：
文献类型：
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作者：
T. Umetani;Y. Mae;Kenji Inoue;T. Arai;J. Yagi
摘要：本文提出了一种基于构件(部件)与其信息(包)之间关系的施工现场构件位姿(位置和姿态)拟合方法，以实现自动化搬运。机器人可以通过与环境相连的存储设备(如RFID设备)获取部件所需的信息。当ID读取器识别ID设备时，它应该在其通信范围内摆出一些姿势。这一事实可能会带来估计携带该设备的部件的姿势的想法。在这个想法中，只有一个设备标识不能确定组件的姿势。我们定义了ID阅读器和ID设备用于姿态拟合的条件，并提出了一种至少具有两个不同标识的拟合方法，其中两个设备不连接到构件的同一平面或平行平面。几个姿势拟合的例子说明了我们的想法的可行性。
ABSTRACT: This paper proposes a method of pose (position and orientation) fitting of construction components in a construction site for automated handling based on the relation between components (parts) and their information (packets). Robots can acquire the required information of the component via the environmentattached storages, such as RFID devices. When an ID reader identifies an ID device, it should take some pose in its communication range. This fact may bring the idea of estimating the pose of a component that carries the device. In this idea, only single device identification cannot fix the pose of the component. We define the conditions of the ID reader and ID devices for the pose fitting, and propose a fitting method with at least two different identifications where two devices are not attached to the same plane or parallel planes of the component. Several examples of pose fitting show the feasibility of our idea.